TOKYO—The parents of a Japanese girl who was abducted by North Korea nearly four decades ago on Monday said meeting with her daughter was "miraculous" and "a dream come true."

Shigeru and Sakie Yokota, the parents of Megumi Yokota, who was 13 when she was snatched by North Korean operatives in 1977, met their North Korean-born granddaughter for the first time last week in Mongolia.